Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2019
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/1901.01006 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Table of Contents:
- Scalable safety verification of continuous state dynamic systems has been demonstrated through both reachability and viability analyses using parametric set representations; however, these two analyses are not interchangable in practice for such parametric representations. In this paper we consider viability analysis for discrete time affine dynamic systems with adversarial inputs. Given a set of state and input constraints, and treating the inputs in best-case and/or worst-case fashion, we construct invariant, viable and discriminating sets, which must therefore under-approximate the invariant, viable and discriminating kernels respectively. The sets are constructed by scaling zonotopes represented in center-generator form. The scale factors are found through efficient convex optimizations. The results are demonstrated on two toy examples and a six dimensional nonlinear longitudinal model of a quadrotor.